Control systems

Systems and methods are provided for designing a compensator for controlling a plant and to control systems for such plants. In one embodiment, a compensator may be designed by introducing a predetermined input into the plant; measuring an impulse response of the plant responding to the predetermined input; determining a mathematical model for the plant based at least in part on the impulse response of the plant, the model comprising a first ratio of polynomials (the plant model) including a first set of coefficients; and determining a second ratio of polynomials including a second set of coefficients (the compensator) based at least in part on the first set of coefficients to operate the compensator such that the compensator produces a series of plant inputs to move the plant towards a setpoint according to a predetermined plant output.